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wait for fmu before mode registration #47

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merged 1 commit into from
Jul 22, 2024
Merged

wait for fmu before mode registration #47

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5 changes: 3 additions & 2 deletions px4_ros2_cpp/src/components/mode.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@

#include "px4_ros2/components/mode.hpp"
#include "px4_ros2/components/message_compatibility_check.hpp"
#include "px4_ros2/components/wait_for_fmu.hpp"

#include "registration.hpp"

Expand Down Expand Up @@ -55,8 +56,8 @@ bool ModeBase::doRegister()
{
assert(!_registration->registered());

if (!_skip_message_compatibility_check &&
!messageCompatibilityCheck(node(), {ALL_PX4_ROS2_MESSAGES}, topicNamespacePrefix()))
if (!_skip_message_compatibility_check && (!waitForFMU(node(), 15s) ||
!messageCompatibilityCheck(node(), {ALL_PX4_ROS2_MESSAGES}, topicNamespacePrefix())))
{
return false;
}
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5 changes: 4 additions & 1 deletion px4_ros2_cpp/src/components/mode_executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@

#include "px4_ros2/components/mode_executor.hpp"
#include "px4_ros2/components/message_compatibility_check.hpp"
#include "px4_ros2/components/wait_for_fmu.hpp"

#include "registration.hpp"

Expand Down Expand Up @@ -50,7 +51,9 @@ bool ModeExecutorBase::doRegister()

assert(!_registration->registered());

if (!messageCompatibilityCheck(_node, {ALL_PX4_ROS2_MESSAGES}, _topic_namespace_prefix)) {
if (!waitForFMU(node(), 15s) ||
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The mode executor could check if its owned mode is set to skip the message check?
This would require adding a getter to the Mode class though

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It's only used for unit tests

!messageCompatibilityCheck(node(), {ALL_PX4_ROS2_MESSAGES}, _topic_namespace_prefix))
{
return false;
}

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